smalruby 0.1.5 → 0.1.6

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
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-  data.tar.gz: 429d4cf04d55b187666deb6d4349cd9e950a6f5b
+  metadata.gz: ce2d379edb87ad0adc98158e75fa25fe84112568
+  data.tar.gz: 69798c03f6d893f0ebc99e432371e060e408bb61
 SHA512:
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-  data.tar.gz: 1135cdd801f17c8e9314f3df0813f8d6715bb7d1918e5c7d42b6e752d6b94f82e70221c7c6fdc3ad059c5a3494917a9c74f81a9c56bac620d9cfb49551afb00b
+  metadata.gz: d6d65b04552500c11eb6a5a0d03346b4f9847538c46fae2458edd45c68f9c93e3d3e64ae880e2d791df7f21a77308a93f6b978e2b5e523753d6833c483c886eb
+  data.tar.gz: 7cd9dd7d633e4cf716827778fc8a143e3bf1327fd04cf771884206a35ff6ec4a691a2b74471377c8c819bd19a4c05f0147efb96ed3760c4e78d6b342d5edb63b

data/lib/smalruby/hardware/smalrubot_s1.rb

@@ -7,8 +7,8 @@ module Smalruby
     class SmalrubotS1
       include Smalrubot::Board::Studuino
 
-      # default dc motor pace ratio
-      DEFAULT_DC_MOTOR_PACE_RATIO = 50
+      # default dc motor power ratio
+      DEFAULT_DC_MOTOR_POWER_RATIO = 50
 
       def initialize(_)
         world.board.init_dc_motor_port(PORT_M1, 0)
@@ -20,26 +20,26 @@ module Smalruby
         world.board.init_sensor_port(PORT_A4, PIDIRPHOTOREFLECTOR)
         world.board.init_sensor_port(PORT_A5, PIDIRPHOTOREFLECTOR)
 
-        @dc_motor_pace_ratios = {
-          PORT_M1 => DEFAULT_DC_MOTOR_PACE_RATIO,
-          PORT_M2 => DEFAULT_DC_MOTOR_PACE_RATIO,
+        @dc_motor_power_ratios = {
+          PORT_M1 => DEFAULT_DC_MOTOR_POWER_RATIO,
+          PORT_M2 => DEFAULT_DC_MOTOR_POWER_RATIO,
         }
       end
 
-      def left_dc_motor_pace_ratio
-        @dc_motor_pace_ratios[PORT_M1]
+      def left_dc_motor_power_ratio
+        @dc_motor_power_ratios[PORT_M1]
       end
 
-      def left_dc_motor_pace_ratio=(val)
-        set_dc_motor_pace_ratio(PORT_M1, val)
+      def left_dc_motor_power_ratio=(val)
+        set_dc_motor_power_ratio(PORT_M1, val)
       end
 
-      def right_dc_motor_pace_ratio
-        @dc_motor_pace_ratios[PORT_M2]
+      def right_dc_motor_power_ratio
+        @dc_motor_power_ratios[PORT_M2]
       end
 
-      def right_dc_motor_pace_ratio=(val)
-        set_dc_motor_pace_ratio(PORT_M2, val)
+      def right_dc_motor_power_ratio=(val)
+        set_dc_motor_power_ratio(PORT_M2, val)
       end
 
       # @!method forward(sec: nil)
@@ -102,25 +102,25 @@ module Smalruby
 
       private
 
-      def set_dc_motor_pace_ratio(port, val)
+      def set_dc_motor_power_ratio(port, val)
         if val < 0
-          @dc_motor_pace_ratios[port] = 0
+          @dc_motor_power_ratios[port] = 0
         elsif val > 100
-          @dc_motor_pace_ratios[port] = 100
+          @dc_motor_power_ratios[port] = 100
         else
-          @dc_motor_pace_ratios[port] = val
+          @dc_motor_power_ratios[port] = val
         end
         set_dc_motor_power(port)
       end
 
       def set_dc_motor_power(port)
-        ratio = @dc_motor_pace_ratios[port]
+        ratio = @dc_motor_power_ratios[port]
         power = Smalrubot::Board::HIGH * (ratio.to_f / 100)
         world.board.dc_motor_power(port, power.round)
       end
 
       def set_dc_motor_powers
-        @dc_motor_pace_ratios.keys.each do |port|
+        @dc_motor_power_ratios.keys.each do |port|
           set_dc_motor_power(port)
         end
       end

data/lib/smalruby/hardware/smalrubot_v3.rb

@@ -60,19 +60,19 @@ module Smalruby
         @current_motor_direction = :stop
       end
 
-      def left_dc_motor_pace_ratio
+      def left_dc_motor_power_ratio
         @left_motor.speed
       end
 
-      def left_dc_motor_pace_ratio=(val)
+      def left_dc_motor_power_ratio=(val)
         @left_motor.speed = val
       end
 
-      def right_dc_motor_pace_ratio
+      def right_dc_motor_power_ratio
         @right_motor.speed
       end
 
-      def right_dc_motor_pace_ratio=(val)
+      def right_dc_motor_power_ratio=(val)
         @right_motor.speed = val
       end
 

data/lib/smalruby/version.rb

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
 
 module Smalruby
-  VERSION =  '0.1.5'
+  VERSION =  '0.1.6'
 end

data/samples/check_hardware_smalrubot.rb

@@ -0,0 +1,214 @@
+# -*- coding: utf-8 -*-
+
+def setup_smalrubot(stage1, smalrubot)
+  stage1.on(:start) do
+    fill(color: 'white')
+    draw_font(string: DESCRIPTION, color: 'black')
+
+    smalrubot.left_dc_motor_power_ratio = 100
+    smalrubot.right_dc_motor_power_ratio = 100
+
+    loop do
+      if Input.key_down?(K_UP)
+        fill(color: 'white')
+        draw_font(string: '進む', color: 'black')
+
+        smalrubot.forward
+
+        await until !Input.key_down?(K_UP)
+
+        fill(color: 'white')
+
+        smalrubot.stop
+      end
+
+      if Input.key_down?(K_DOWN)
+        fill(color: 'white')
+        draw_font(string: 'バックする', color: 'black')
+
+        smalrubot.backward
+
+        await until !Input.key_down?(K_DOWN)
+
+        fill(color: 'white')
+
+        smalrubot.stop
+      end
+
+      if Input.key_down?(K_LEFT)
+        fill(color: 'white')
+        draw_font(string: '左に旋回する', color: 'black')
+
+        smalrubot.turn_left
+
+        await until !Input.key_down?(K_LEFT)
+
+        fill(color: 'white')
+
+        smalrubot.stop
+      end
+
+      if Input.key_down?(K_RIGHT)
+        fill(color: 'white')
+        draw_font(string: '右に旋回する', color: 'black')
+
+        smalrubot.turn_right
+
+        await until !Input.key_down?(K_RIGHT)
+
+        fill(color: 'white')
+
+        smalrubot.stop
+      end
+
+      if Input.key_down?(K_W) || Input.key_down?(K_S)
+        if Input.key_down?(K_W)
+          smalrubot.left_dc_motor_power_ratio += 10
+        else
+          smalrubot.left_dc_motor_power_ratio -= 10
+        end
+
+        fill(color: 'white')
+        draw_font(string: "左の速度: #{smalrubot.left_dc_motor_power_ratio}%",
+                  color: 'black')
+      end
+
+      if Input.key_down?(K_O) || Input.key_down?(K_L)
+        if Input.key_down?(K_O)
+          smalrubot.right_dc_motor_power_ratio += 10
+        else
+          smalrubot.right_dc_motor_power_ratio -= 10
+        end
+
+        fill(color: 'white')
+        draw_font(string: "右の速度: #{smalrubot.right_dc_motor_power_ratio}%",
+                  color: 'black')
+      end
+
+      if Input.key_down?(K_SPACE)
+        fill(color: 'white')
+        draw_font(string: '右のLEDを光らせる', color: 'black')
+
+        smalrubot.turn_on_right_led
+
+        sleep(1)
+
+        smalrubot.turn_off_right_led
+
+        fill(color: 'white')
+        draw_font(string: '左のLEDを光らせる', color: 'black')
+
+        smalrubot.turn_on_left_led
+
+        sleep(1)
+
+        smalrubot.turn_off_left_led
+
+        fill(color: 'white')
+      end
+
+      if Input.key_down?(K_H)
+        until !Input.key_down?(K_H)
+          fill(color: 'white')
+          msg = 'センサーの情報: ' +
+            "左 #{smalrubot.left_sensor_value} " +
+            "右 #{smalrubot.right_sensor_value}"
+          draw_font(string: msg, color: 'black')
+          await
+        end
+        fill(color: 'white')
+      end
+    end
+  end
+
+  stage1.on(:key_push, K_A) do
+    threshold = 400
+
+    loop do
+      fill(color: 'white')
+      draw_font(string: '自動運転', color: 'black')
+
+      left_sensor = smalrubot.left_sensor_value < threshold
+      right_sensor = smalrubot.right_sensor_value < threshold
+
+      if !left_sensor && !right_sensor
+        smalrubot.forward
+      end
+
+      loop do
+        if left_sensor || right_sensor
+          if left_sensor && right_sensor
+            fill(color: 'white')
+            draw_font(string: '前方障害物発見！', color: 'black')
+
+            smalrubot.backward
+
+            loop do
+              left_sensor = smalrubot.left_sensor_value < threshold
+              right_sensor = smalrubot.right_sensor_value < threshold
+              if !left_sensor && !right_sensor
+                smalrubot.stop
+                break
+              end
+            end
+
+            if rand(2) == 1
+              smalrubot.turn_left(sec: 0.1)
+            else
+              smalrubot.turn_right(sec: 0.1)
+            end
+          else
+            if right_sensor
+              fill(color: 'white')
+              draw_font(string: '右側障害物発見！', color: 'black')
+
+              #smalrubot.backward(sec: 0.1)
+              smalrubot.turn_left
+
+              loop do
+                left_sensor = smalrubot.left_sensor_value < threshold
+                right_sensor = smalrubot.right_sensor_value < threshold
+                if !left_sensor && !right_sensor
+                  smalrubot.stop
+                  break
+                end
+              end
+            else
+              if left_sensor
+                fill(color: 'white')
+                draw_font(string: '左側障害物発見！', color: 'black')
+
+                #smalrubot.backward(sec: 0.1)
+                smalrubot.turn_right
+
+                loop do
+                  left_sensor = smalrubot.left_sensor_value < threshold
+                  right_sensor = smalrubot.right_sensor_value < threshold
+                  if !left_sensor && !right_sensor
+                    smalrubot.stop
+                    break
+                  end
+                end
+              end
+            end
+          end
+          break
+        end
+
+        if Input.key_down?(K_Y)
+          fill(color: 'white')
+          break
+        end
+
+        left_sensor = smalrubot.left_sensor_value < threshold
+        right_sensor = smalrubot.right_sensor_value < threshold
+      end
+
+      if Input.key_down?(K_Y)
+        fill(color: 'white')
+        smalrubot.stop
+        break
+      end
+    end
+  end
+end

data/samples/check_hardware_smalrubot_s1.rb

@@ -1,181 +1,14 @@
 # -*- coding: utf-8 -*-
 
 DESCRIPTION = <<EOS
-Smalrubot on Studuino v1を操作します
+スモウルボットS1を操作します
 EOS
 
 require 'smalruby'
+require_relative 'check_hardware_smalrubot'
 
 init_hardware(device: ENV['SMALRUBOT_DEVICE'],
               baud: ENV['SMALRUBOT_BAUD'] ? ENV['SMALRUBOT_BAUD'].to_i : nil)
 
 stage1 = Stage.new(color: 'white')
-
-stage1.on(:start) do
-  fill(color: 'white')
-  draw_font(string: DESCRIPTION, color: 'black')
-
-  smalrubot_s1.left_dc_motor_pace_ratio = 100
-  smalrubot_s1.right_dc_motor_pace_ratio = 100
-
-  loop do
-    if Input.key_down?(K_UP)
-      fill(color: 'white')
-      draw_font(string: '進む', color: 'black')
-
-      smalrubot_s1.forward
-
-      await until !Input.key_down?(K_UP)
-
-      [75, 50, 25].each do |ratio|
-        smalrubot_s1.left_dc_motor_pace_ratio = ratio
-        smalrubot_s1.right_dc_motor_pace_ratio = ratio
-        sleep(0.1)
-      end
-
-      fill(color: 'white')
-
-      smalrubot_s1.left_dc_motor_pace_ratio = 100
-      smalrubot_s1.right_dc_motor_pace_ratio = 100
-
-      smalrubot_s1.stop
-    end
-
-    if Input.key_down?(K_DOWN)
-      fill(color: 'white')
-      draw_font(string: 'バックする', color: 'black')
-
-      smalrubot_s1.backward
-
-      await until !Input.key_down?(K_DOWN)
-
-      fill(color: 'white')
-
-      smalrubot_s1.stop
-    end
-
-    if Input.key_down?(K_LEFT)
-      fill(color: 'white')
-      draw_font(string: '左に旋回する', color: 'black')
-
-      smalrubot_s1.turn_left
-
-      await until !Input.key_down?(K_LEFT)
-
-      fill(color: 'white')
-
-      smalrubot_s1.stop
-    end
-
-    if Input.key_down?(K_RIGHT)
-      fill(color: 'white')
-      draw_font(string: '右に旋回する', color: 'black')
-
-      smalrubot_s1.turn_right
-
-      await until !Input.key_down?(K_RIGHT)
-
-      fill(color: 'white')
-
-      smalrubot_s1.stop
-    end
-
-    if Input.key_down?(K_S)
-      until !Input.key_down?(K_S)
-        fill(color: 'white')
-        draw_font(string: "ライントレーサーの情報: 左(#{smalrubot_s1.left_ir_photoreflector_value}) 右(#{smalrubot_s1.right_ir_photoreflector_value})",
-                  color: 'black')
-        await
-      end
-
-      fill(color: 'white')
-    end
-
-    if Input.key_down?(K_W)
-      fill(color: 'white')
-      draw_font(string: '右のLEDを光らせる', color: 'black')
-
-      smalrubot_s1.turn_on_right_led
-
-      await until !Input.key_down?(K_W)
-
-      fill(color: 'white')
-
-      smalrubot_s1.turn_off_right_led
-    end
-
-    if Input.key_down?(K_B)
-      fill(color: 'white')
-      draw_font(string: '左のLEDを光らせる', color: 'black')
-
-      smalrubot_s1.turn_on_left_led
-
-      await until !Input.key_down?(K_B)
-
-      smalrubot_s1.turn_off_left_led
-
-      fill(color: 'white')
-    end
-  end
-end
-
-stage1.on(:key_push, K_A) do
-  loop do
-    fill(color: 'white')
-    draw_font(string: '自動運転', color: 'black')
-
-    smalrubot_s1.forward
-
-    loop do
-      if smalrubot_s1.left_ir_photoreflector_value < 300 && smalrubot_s1.right_ir_photoreflector_value < 300
-        fill(color: 'white')
-        draw_font(string: '前方障害物発見！', color: 'black')
-
-        smalrubot_s1.backward
-        sleep(0.25)
-        if rand(2) == 1
-          smalrubot_s1.turn_left
-          sleep(0.1)
-        else
-          smalrubot_s1.turn_right
-          sleep(0.1)
-        end
-        break
-      end
-
-      if smalrubot_s1.left_ir_photoreflector_value < 300
-        fill(color: 'white')
-        draw_font(string: '左側障害物発見！', color: 'black')
-
-        smalrubot_s1.backward
-        sleep(0.25)
-        smalrubot_s1.turn_right
-        sleep(0.1)
-        break
-      end
-
-      if smalrubot_s1.right_ir_photoreflector_value < 300
-        fill(color: 'white')
-        draw_font(string: '右側障害物発見！', color: 'black')
-
-        smalrubot_s1.backward
-        sleep(0.25)
-        smalrubot_s1.turn_left
-        sleep(0.1)
-        break
-      end
-
-      if Input.key_down?(K_Y)
-        fill(color: 'white')
-        break
-      end
-    end
-    smalrubot_s1.stop
-    sleep(0.1)
-
-    if Input.key_down?(K_Y)
-      fill(color: 'white')
-      break
-    end
-  end
-end
+setup_smalrubot(stage1, stage1.smalrubot_s1)

data/samples/check_hardware_smalrubot_v3.rb

@@ -5,217 +5,10 @@ DESCRIPTION = <<EOS
 EOS
 
 require 'smalruby'
+require_relative 'check_hardware_smalrubot'
 
 init_hardware(device: ENV['SMALRUBOT_DEVICE'],
               baud: ENV['SMALRUBOT_BAUD'] ? ENV['SMALRUBOT_BAUD'].to_i : nil)
 
 stage1 = Stage.new(color: 'white')
-stage1.smalrubot_v3
-
-stage1.on(:start) do
-  fill(color: 'white')
-  draw_font(string: DESCRIPTION, color: 'black')
-
-  loop do
-    if Input.key_down?(K_UP)
-      fill(color: 'white')
-      draw_font(string: '進む', color: 'black')
-
-      smalrubot_v3.forward
-
-      await until !Input.key_down?(K_UP)
-
-      fill(color: 'white')
-
-      smalrubot_v3.stop
-    end
-
-    if Input.key_down?(K_DOWN)
-      fill(color: 'white')
-      draw_font(string: 'バックする', color: 'black')
-
-      smalrubot_v3.backward
-
-      await until !Input.key_down?(K_DOWN)
-
-      fill(color: 'white')
-
-      smalrubot_v3.stop
-    end
-
-    if Input.key_down?(K_LEFT)
-      fill(color: 'white')
-      draw_font(string: '左に旋回する', color: 'black')
-
-      smalrubot_v3.turn_left
-
-      await until !Input.key_down?(K_LEFT)
-
-      fill(color: 'white')
-
-      smalrubot_v3.stop
-    end
-
-    if Input.key_down?(K_RIGHT)
-      fill(color: 'white')
-      draw_font(string: '右に旋回する', color: 'black')
-
-      smalrubot_v3.turn_right
-
-      await until !Input.key_down?(K_RIGHT)
-
-      fill(color: 'white')
-
-      smalrubot_v3.stop
-    end
-
-    if Input.key_down?(K_W) || Input.key_down?(K_S)
-      if Input.key_down?(K_W)
-        smalrubot_v3.left_dc_motor_pace_ratio += 10
-      else
-        smalrubot_v3.left_dc_motor_pace_ratio -= 10
-      end
-
-      fill(color: 'white')
-      draw_font(string: "左の速度: #{smalrubot_v3.left_dc_motor_pace_ratio}%",
-                color: 'black')
-    end
-
-    if Input.key_down?(K_O) || Input.key_down?(K_L)
-      if Input.key_down?(K_O)
-        smalrubot_v3.right_dc_motor_pace_ratio += 10
-      else
-        smalrubot_v3.right_dc_motor_pace_ratio -= 10
-      end
-
-      fill(color: 'white')
-      draw_font(string: "右の速度: #{smalrubot_v3.right_dc_motor_pace_ratio}%",
-                color: 'black')
-    end
-
-    if Input.key_down?(K_SPACE)
-      fill(color: 'white')
-      draw_font(string: '右のLEDを光らせる', color: 'black')
-
-      smalrubot_v3.turn_on_right_led
-
-      sleep(1)
-
-      smalrubot_v3.turn_off_right_led
-
-      fill(color: 'white')
-      draw_font(string: '左のLEDを光らせる', color: 'black')
-
-      smalrubot_v3.turn_on_left_led
-
-      sleep(1)
-
-      smalrubot_v3.turn_off_left_led
-
-      fill(color: 'white')
-    end
-
-    if Input.key_down?(K_H)
-      until !Input.key_down?(K_H)
-        fill(color: 'white')
-        msg = 'センサーの情報: ' +
-          "左 #{smalrubot_v3.left_sensor_value} " +
-          "右 #{smalrubot_v3.right_sensor_value}"
-        draw_font(string: msg, color: 'black')
-        await
-      end
-      fill(color: 'white')
-    end
-  end
-end
-
-THRESHOLD = 400
-
-stage1.on(:key_push, K_A) do
-  loop do
-    fill(color: 'white')
-    draw_font(string: '自動運転', color: 'black')
-
-    left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
-    right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
-
-    if !left_sensor && !right_sensor
-      smalrubot_v3.forward
-    end
-
-    loop do
-      if left_sensor || right_sensor
-        if left_sensor && right_sensor
-          fill(color: 'white')
-          draw_font(string: '前方障害物発見！', color: 'black')
-
-          smalrubot_v3.backward
-
-          loop do
-            left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
-            right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
-            if !left_sensor && !right_sensor
-              smalrubot_v3.stop
-              break
-            end
-          end
-
-          if rand(2) == 1
-            smalrubot_v3.turn_left(sec: 0.1)
-          else
-            smalrubot_v3.turn_right(sec: 0.1)
-          end
-        else
-          if right_sensor
-            fill(color: 'white')
-            draw_font(string: '右側障害物発見！', color: 'black')
-
-            #smalrubot_v3.backward(sec: 0.1)
-            smalrubot_v3.turn_left
-
-            loop do
-              left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
-              right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
-              if !left_sensor && !right_sensor
-                smalrubot_v3.stop
-                break
-              end
-            end
-          else
-            if left_sensor
-              fill(color: 'white')
-              draw_font(string: '左側障害物発見！', color: 'black')
-
-              #smalrubot_v3.backward(sec: 0.1)
-              smalrubot_v3.turn_right
-
-              loop do
-                left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
-                right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
-                if !left_sensor && !right_sensor
-                  smalrubot_v3.stop
-                  break
-                end
-              end
-            end
-          end
-        end
-        break
-      end
-
-      if Input.key_down?(K_Y)
-        fill(color: 'white')
-        break
-      end
-
-      left_sensor = smalrubot_v3.left_sensor_value < THRESHOLD
-      right_sensor = smalrubot_v3.right_sensor_value < THRESHOLD
-    end
-
-    if Input.key_down?(K_Y)
-      fill(color: 'white')
-      smalrubot_v3.stop
-      break
-    end
-  end
-end
+setup_smalrubot(stage1, stage1.smalrubot_v3)

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: smalruby
 version: !ruby/object:Gem::Version
-  version: 0.1.5
+  version: 0.1.6
 platform: ruby
 authors:
 - Kouji Takao
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2015-03-15 00:00:00.000000000 Z
+date: 2015-05-12 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -278,6 +278,7 @@ files:
 - samples/car.rb
 - samples/cat.rb
 - samples/check_hardware_motor_driver.rb
+- samples/check_hardware_smalrubot.rb
 - samples/check_hardware_smalrubot_s1.rb
 - samples/check_hardware_smalrubot_v3.rb
 - samples/console.rb